Safe manipulation을 위한 Spring-clutch 개발 및 안전 전략

다국어 초록 (Multilingual Abstract)

In this study, a novel safe joint mechanism and safety strategy to ensure inherent safety for safe manipulation are presented. The Spring-clutch(SC) is a simple passive mechanism that consists of a spring and cam. When a torque less than a threshold is applied, the SC functions as a rigid joint between the input and the output. However, when the applied torque exceeds the threshold, the SC is released to reduce the collision force. After the applied torque is removed, the SC returns to its original position without additional operations. In addition, a compact joint torque sensor is added to the SC to measure the joint torque, which is used for active compliance control. The SC, however, may not be released depending on the configuration of the manipulator, i.e. singular position. When the manipulator is ill-posed, the applied external torque due to the force becomes zero, which makes the SC fail to work. A safe strategy to ensure safety of the manipulator with the SC is presented.

목차 (Table of Contents)

• Abstract
• 1. 서론
• 2. Spring-clutch 의 설계 및 동작 원리
• 3. Spring-clutch 의 테스트 버전
• 4. 상용화 버전의 Spring-clutch 개발
• 5. 안전 전략
• 6. 결론
• 후기
• 참고문헌